SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 228 * Raw log
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• Previous call tries 2 • 94.44 of 350.00 AH used of 24V (73.02% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -60.1 deg, depth 0.86 m • Intended pitch -15.8 deg, speed -7.333 cm/s
VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 31 s
• GPS2 time: 15 s • Transponder ping count: 13
• Time spent turning 0 s

Statistics * Plot
t(s) depth(m) w(cm/s) num pts t(s) GC phase pitch roll VBD pit rol VBD volts
ctl(cm) t(s) A pos(AD) rate t(s) A pos(AD) rate ctl(cc) t(s) A pos(AD) rate eff r e r e r e pitrollvbd flags
13 end surface: CONTROL_FINISHED_OK
13 begin dive
17 - - - 103 VBD -0.68 - - 197 - - - 2285 - -116.8 -84.70 - 2937 - - - - - - - - 14.71 - 14.73
107 5.4 -7.9 3 131 roll -0.68 8.93 0.415 1982 199.9 2.78 2.070 862 -511.9 -116.8 -4.70 - 3220 -60.2 - - - - - - - 14.13 13.33 14.50
201 41.4 -31.4 17 207 done -0.42 0.35 0.301 2054 205.7 2.53 0.062 2286 562.8 -116.8 - - 3220 - - - - - - - - 14.19 14.45 14.47
523 94.8 -10.4 30 525 done -0.33 0.15 0.256 2089 233.3 - - 2287 - -116.8 - - 3221 - - - - - - - - 14.36 14.63 14.57
831 115.1 -6.3 37 837 roll -0.33 - - 2082 - 2.42 0.080 3694 581.4 -116.8 - - 3223 - - - - - - - - 14.89 14.56 14.91
866 117.5 -6.7 42 871 done -0.33 - - 2082 - 2.38 0.040 2235 -613.0 -116.8 - - 3223 - - - - - - - - 14.73 14.68 14.75
1223 141.4 -6.5 51 1224 done -0.33 - - 2082 - - - 2227 - -116.8 - - 3223 - - - - - - - - 14.92 14.95 14.95
1560 163.7 -6.5 57 1565 roll -0.33 - - 2081 - 2.28 0.052 898 -582.9 -116.8 - - 3221 - - - - - - - - 14.94 14.64 14.96
1594 166.0 -6.9 62 1599 done -0.33 - - 2082 - 2.40 0.060 2280 575.8 -116.8 - - 3221 - - - - - - - - 14.74 14.64 14.77
1951 187.3 -5.9 71 1956 roll -0.33 - - 2082 - 2.38 0.050 894 -582.4 -116.8 - - 3219 - - - - - - - - 14.95 14.66 14.97
2008 190.7 -6.0 79 2012 done -0.38 - - 2081 - 2.42 0.058 2281 573.1 -116.8 - - 3218 - - - - - - - - 14.75 14.64 14.78
2344 209.4 -5.6 92 2349 roll -0.43 - - 2082 - 2.47 0.087 3695 572.5 -116.8 - - 3216 - - - - - - - - 14.95 14.61 14.97
2392 212.3 -6.0 99 2399 done -0.50 0.15 0.115 2016 -440.0 2.40 0.045 2269 -594.2 -116.8 - - 3216 - - - - - - - - 14.67 14.68 14.75
2735 244.0 -9.6 106 2736 done -0.50 - - 2016 - - - 2264 - -116.8 - - 3214 - - - - - - - - 14.95 14.97 14.97
3072 278.3 -10.3 112 3076 roll -0.50 - - 2016 - 2.38 0.057 895 -575.2 -116.8 - - 3211 - - - - - - - - 14.96 14.64 14.97
3120 283.5 -10.4 119 3126 done -0.50 - - 2012 - 2.45 0.062 2286 567.8 -116.8 - - 3210 - - - - - - - - 14.73 14.60 14.76
3464 319.4 -10.4 126 3468 roll -0.50 - - 2005 - 2.47 0.086 3698 571.7 -116.8 - - 3208 - - - - - - - - 14.95 14.54 14.97
3491 322.3 -10.6 130 3496 done -0.50 0.12 0.250 2033 233.3 2.35 0.044 2270 -607.7 -116.8 - - 3207 - - - - - - - - 14.41 14.71 14.65
3856 352.3 -7.8 140 3860 roll -0.50 - - 2033 - 2.38 0.057 890 -579.8 -116.8 - - 3205 - - - - - - - - 14.97 14.63 14.99
3967 360.7 -7.2 156 3972 done -0.50 - - 2026 - 2.42 0.062 2263 567.4 -116.8 - - 3204 - - - - - - - - 14.71 14.60 14.74
4304 385.6 -7.6 169 4309 roll -0.50 - - 2018 - 2.53 0.086 3701 568.4 -116.8 - - 3202 - - - - - - - - 14.95 14.52 14.97
4379 391.7 -7.8 180 4385 done -0.50 - - 2018 - 2.42 0.044 2269 -591.7 -116.8 - - 3201 - - - - - - - - 14.69 14.65 14.71
4696 416.8 -8.0 190 4700 roll -0.50 - - 2018 - 2.38 0.058 893 -578.2 -116.8 - - 3200 - - - - - - - - 14.97 14.62 14.98
4779 424.1 -8.9 202 4784 done -0.50 - - 2015 - 2.42 0.064 2262 565.7 -116.8 - - 3198 - - - - - - - - 14.70 14.59 14.73
5144 456.9 -9.1 212 5144 done -0.50 - - 2015 - - - 2262 - -116.8 - - 3193 - - - - - - - - 14.96 14.98 14.98
5479 489.4 -9.7 218 5484 roll -0.50 - - 2009 - 2.53 0.090 3694 566.0 -116.8 - - 3195 - - - - - - - - 14.97 14.53 14.98
5521 493.6 -10.1 224 5526 done -0.50 - - 2009 - 2.40 0.047 2255 -599.6 -116.8 - - 3195 - - - - - - - - 14.75 14.69 14.79
5871 527.9 -9.7 232 5876 roll -0.50 - - 2009 - 2.35 0.056 893 -579.6 -116.8 - - 3193 - - - - - - - - 14.94 14.59 14.96
5927 533.3 -9.5 240 5932 done -0.50 - - 2009 - 2.42 0.064 2258 564.0 -116.8 - - 3193 - - - - - - - - 14.69 14.57 14.72
6264 563.6 -8.9 253 6269 roll -0.50 - - 2000 - 2.55 0.089 3700 565.5 -116.8 - - 3191 - - - - - - - - 14.94 14.53 14.96
6305 567.4 -9.3 259 6310 done -0.50 0.15 0.246 2036 240.0 2.42 0.047 2246 -600.8 -116.8 - - 3190 - - - - - - - - 14.35 14.68 14.59
6655 591.4 -6.6 267 6660 roll -0.50 - - 2036 - 2.35 0.061 896 -574.5 -116.8 - - 3189 - - - - - - - - 14.94 14.55 14.96
6725 595.7 -6.0 277 6731 done -0.50 - - 2036 - 2.42 0.066 2256 562.0 -116.8 - - 3189 - - - - - - - - 14.69 14.56 14.72
7047 614.0 -5.7 288 7052 roll -0.50 - - 2026 - 2.55 0.090 3696 564.7 -116.8 - - 3188 - - - - - - - - 14.93 14.52 14.95
7103 617.3 -6.1 296 7108 done -0.50 - - 2026 - 2.42 0.050 2258 -594.2 -116.8 - - 3187 - - - - - - - - 14.67 14.60 14.69
7440 638.4 -6.4 309 7446 roll -0.50 - - 2026 - 2.40 0.059 884 -572.5 -116.8 - - 3186 - - - - - - - - 14.92 14.57 14.94
7522 644.1 -6.6 321 7528 done -0.50 - - 2026 - 2.45 0.067 2255 559.6 -116.8 - - 3185 - - - - - - - - 14.66 14.53 14.70
7888 668.1 -6.7 331 7889 done -0.50 - - 2026 - - - 2256 - -116.8 - - 3184 - - - - - - - - 14.92 14.95 14.94
8223 690.6 -6.6 337 8229 roll -0.50 - - 2018 - 2.58 0.094 3696 558.1 -116.8 - - 3183 - - - - - - - - 14.92 14.48 14.94
8265 693.6 -7.5 343 8270 done -0.50 - - 2018 - 2.45 0.052 2247 -591.4 -116.8 - - 3183 - - - - - - - - 14.70 14.63 14.73
8616 718.9 -7.2 351 8621 roll -0.50 - - 2018 - 2.40 0.065 884 -567.9 -116.8 - - 3181 - - - - - - - - 14.92 14.52 14.93
8705 725.9 -7.6 364 8711 done -0.50 - - 2016 - 2.50 0.069 2254 548.0 -116.8 - - 3181 - - - - - - - - 14.55 14.48 14.70
9063 752.8 -7.6 373 9069 roll -0.50 - - 2012 - 2.60 0.097 3693 553.5 -116.8 - - 3179 - - - - - - - - 14.93 14.45 14.95
9147 759.8 -8.2 385 9153 done -0.50 - - 2012 - 2.47 0.054 2241 -587.9 -116.8 - - 3179 - - - - - - - - 14.68 14.60 14.70
9511 789.5 -8.3 395 9516 roll -0.50 - - 2011 - 2.40 0.066 896 -560.4 -116.8 - - 3178 - - - - - - - - 14.91 14.50 14.93
9615 798.7 -8.6 410 9622 done -0.50 - - 2012 - 2.47 0.070 2240 544.1 -116.8 - - 3178 - - - - - - - - 14.52 14.45 14.57
9960 826.7 -8.1 417 9966 roll -0.50 - - 2010 - 2.62 0.097 3693 554.6 -116.8 - - 3177 - - - - - - - - 14.90 14.45 14.92
10028 832.0 -8.0 427 10034 done -0.50 - - 2010 - 2.53 0.054 2242 -573.5 -116.8 - - 3176 - - - - - - - - 14.66 14.52 14.69
10352 855.7 -7.3 438 10356 roll -0.50 - - 2010 - 2.40 0.064 890 -563.3 -116.8 - - 3175 - - - - - - - - 14.92 14.49 14.94
10421 860.8 -7.2 448 10426 done -0.50 - - 2010 - 2.45 0.069 2245 553.1 -116.8 - - 3176 - - - - - - - - 14.62 14.49 14.66
10743 882.2 -6.7 459 10748 roll -0.50 - - 2002 - 2.62 0.097 3702 556.1 -116.8 - - 3174 - - - - - - - - 14.89 14.43 14.91
10792 885.3 -6.0 466 10799 done -0.50 0.12 0.252 2031 241.7 2.53 0.052 2229 -582.2 -116.8 - - 3174 - - - - - - - - 14.27 14.57 14.52
11136 904.2 -5.5 473 11142 roll -0.50 - - 2031 - 2.38 0.060 885 -564.7 -116.8 - - 3174 - - - - - - - - 14.88 14.49 14.91
11205 908.4 -5.9 483 11210 done -0.50 - - 2029 - 2.45 0.069 2240 553.1 -116.8 - - 3173 - - - - - - - - 14.61 14.47 14.65
11528 927.0 -5.8 494 11533 roll -0.50 - - 2016 - 2.62 0.095 3701 557.6 -116.8 - - 3172 - - - - - - - - 14.90 14.43 14.92
11604 931.6 -6.3 505 11610 done -0.50 - - 2021 - 2.50 0.053 2228 -589.2 -116.8 - - 3172 - - - - - - - - 14.64 14.54 14.67
11920 951.3 -6.3 515 11925 roll -0.50 - - 2021 - 2.38 0.062 885 -564.3 -116.8 - - 3172 - - - - - - - - 14.88 14.47 14.90
11983 956.2 -5.4 524 11987 done -0.50 - - 2020 - 2.45 0.068 2246 555.5 -116.8 - - 3171 - - - - - - - - 14.61 14.48 14.65
12312 977.0 -6.6 536 12317 roll -0.50 - - 2012 - 2.62 0.099 3699 554.6 -116.8 - - 3171 - - - - - - - - 14.88 14.40 14.90
12339 979.7 -10.3 540 12344 done -0.50 - - 2012 - 2.53 0.055 2215 -586.6 -116.8 - - 3170 - - - - - - - - 14.64 14.54 14.66
12532 end dive: TARGET_DEPTH_EXCEEDED
12532 begin apogee
12540 993.0 -6.7 547 12730 roll -0.19 0.45 0.224 2134 271.1 - - 2208 - - 187.23 1.632 2741 -2.3 0.263 - - - - - - 14.26 13.97 13.31
12731 end apogee: CONTROL_FINISHED_OK
12732 begin climb
12735 998.6 - 550 12894 done 0.68 0.90 0.146 2412 308.9 - - 2208 - 116.8 148.18 1.874 2255 -3.3 0.329 - - - - - - 13.92 14.16 13.02
13209 956.7 10.3 587 13214 roll 0.61 - - 2412 - 2.62 0.099 3612 535.9 116.8 - - 2232 - - - - - - - - 14.57 14.26 14.59
13286 947.9 11.5 598 13291 done 0.52 0.22 0.277 2370 -190.9 2.47 0.066 2217 -564.8 116.8 - - 2231 - - - - - - - - 14.11 14.36 14.40
13602 921.9 8.1 608 13607 roll 0.52 - - 2380 - 2.62 0.083 787 -545.8 116.8 - - 2229 - - - - - - - - 14.73 14.39 14.75
13628 919.6 7.0 612 13634 done 0.53 - - 2380 - 2.58 0.072 2200 547.7 123.9 - - 2228 - - - - - - - - 14.54 14.42 14.57
13993 888.2 8.7 622 13999 roll 0.53 - - 2380 - 2.55 0.101 3612 553.7 123.9 - - 2227 - - - - - - - - 14.79 14.37 14.81
14077 880.0 9.6 634 14082 done 0.53 - - 2390 - 2.47 0.064 2199 -572.1 123.9 - - 2226 - - - - - - - - 14.59 14.49 14.63
14441 845.9 9.5 644 14446 roll 0.53 - - 2400 - 2.55 0.085 797 -549.8 123.9 - - 2227 - - - - - - - - 14.84 14.42 14.85
14489 841.3 9.3 651 14496 done 0.53 0.08 0.243 2371 -362.5 2.60 0.071 2205 541.5 123.9 - - 2226 - - - - - - - - 14.20 14.40 14.51
14834 813.7 7.9 658 14839 roll 0.53 - - 2372 - 2.58 0.100 3615 546.5 123.9 - - 2225 - - - - - - - - 14.85 14.40 14.86
14930 805.1 8.8 672 14936 done 0.53 - - 2381 - 2.53 0.065 2212 -554.5 123.9 - - 2225 - - - - - - - - 14.50 14.44 14.54
15282 777.0 8.0 680 15287 roll 0.53 - - 2391 - 2.60 0.080 784 -549.2 123.9 - - 2225 - - - - - - - - 14.84 14.42 14.86
15329 773.5 7.9 687 15336 done 0.53 - - 2391 - 2.65 0.072 2215 540.0 123.9 - - 2226 - - - - - - - - 14.48 14.40 14.53
15674 744.0 8.7 694 15679 roll 0.53 - - 2391 - 2.55 0.099 3613 548.2 123.9 - - 2224 - - - - - - - - 14.86 14.41 14.88
15750 736.5 9.8 705 15756 done 0.47 0.20 0.251 2354 -185.0 2.45 0.063 2215 -570.6 123.9 - - 2224 - - - - - - - - 14.21 14.49 14.50
16066 713.7 7.2 715 16070 roll 0.47 - - 2364 - 2.60 0.080 780 -551.9 126.5 - - 2224 - - - - - - - - 14.86 14.42 14.88
16113 710.2 6.9 722 16135 done 0.47 - - 2364 - 2.65 0.070 2218 542.6 137.1 17.00 1.732 2182 -2.5 0.191 - - - - - - 14.48 14.41 13.83
16451 683.9 7.8 735 16456 roll 0.47 - - 2364 - 2.55 0.098 3610 545.9 137.1 - - 2164 - - - - - - - - 14.76 14.37 14.78
16526 677.4 8.3 746 16532 done 0.47 - - 2373 - 2.47 0.060 2219 -563.2 137.1 - - 2166 - - - - - - - - 14.50 14.42 14.59
16843 652.7 7.8 756 16847 roll 0.47 - - 2383 - 2.60 0.080 788 -550.4 137.1 - - 2163 - - - - - - - - 14.80 14.40 14.82
16899 648.5 7.4 764 16904 done 0.47 - - 2383 - 2.60 0.070 2220 550.8 137.1 - - 2162 - - - - - - - - 14.55 14.42 14.59
17234 621.8 8.0 777 17240 roll 0.47 - - 2383 - 2.55 0.099 3617 547.8 137.1 - - 2162 - - - - - - - - 14.83 14.37 14.85
17290 616.7 9.2 785 17296 done 0.47 0.15 0.251 2358 -166.7 2.47 0.064 2210 -569.6 137.1 - - 2161 - - - - - - - - 14.21 14.46 14.50
17627 593.7 6.8 798 17645 roll 0.48 - - 2358 - 2.55 0.096 3613 550.2 150.1 12.75 1.645 2127 -2.7 0.181 - - - - - - 14.83 14.55 13.86
17674 590.0 7.8 805 17682 done 0.48 - - 2366 - 2.47 0.061 2219 -564.4 150.1 - - 2119 - - - - - - - - 14.51 14.45 14.54
18019 563.9 7.6 812 18024 roll 0.48 - - 2377 - 2.60 0.078 792 -548.8 150.1 - - 2116 - - - - - - - - 14.78 14.38 14.81
18066 560.2 7.7 819 18073 done 0.48 - - 2377 - 2.65 0.068 2232 543.4 150.1 - - 2114 - - - - - - - - 14.45 14.38 14.50
18411 531.1 8.6 826 18415 roll 0.48 - - 2377 - 2.53 0.097 3613 545.8 150.1 - - 2115 - - - - - - - - 14.81 14.36 14.83
18523 520.3 9.6 842 18528 done 0.48 - - 2386 - 2.42 0.061 2233 -570.2 150.1 - - 2114 - - - - - - - - 14.57 14.47 14.61
18858 489.2 9.3 855 18863 roll 0.48 0.12 0.271 2369 -141.7 2.62 0.073 779 -555.0 150.1 - - 2114 - - - - - - - - 14.21 14.40 14.47
18899 485.7 7.9 861 18906 done 0.53 - - 2368 - 2.62 0.067 2235 555.7 150.1 - - 2114 - - - - - - - - 14.57 14.44 14.61
19251 458.3 7.7 869 19257 roll 0.53 - - 2369 - 2.53 0.095 3622 548.2 150.1 - - 2114 - - - - - - - - 14.83 14.38 14.84
19340 450.6 8.4 882 19347 done 0.53 - - 2378 - 2.47 0.060 2238 -560.3 150.1 - - 2114 - - - - - - - - 14.48 14.44 14.63
19698 422.1 8.0 891 19703 roll 0.53 - - 2388 - 2.62 0.074 791 -552.3 150.1 - - 2114 - - - - - - - - 14.88 14.40 14.88
19726 419.9 7.7 895 19731 done 0.53 - - 2388 - 2.65 0.067 2253 551.7 150.1 - - 2114 - - - - - - - - 14.58 14.45 14.62
20090 388.4 8.8 905 20096 roll 0.53 - - 2388 - 2.50 0.097 3615 544.8 150.1 - - 2113 - - - - - - - - 14.83 14.38 14.84
20187 378.8 9.6 919 20193 done 0.53 - - 2396 - 2.45 0.060 2254 -555.5 150.1 - - 2114 - - - - - - - - 14.50 14.45 14.54
20539 346.4 9.4 927 20540 done 0.53 - - 2396 - - - 2247 - 150.1 - - 2113 - - - - - - - - 14.83 14.88 14.88
20874 315.5 9.2 933 20880 roll 0.53 - - 2406 - 2.65 0.074 793 -548.7 150.1 - - 2114 - - - - - - - - 14.86 14.40 14.88
20922 311.0 9.1 940 20929 done 0.53 0.08 0.182 2374 -400.0 2.67 0.067 2252 546.4 150.1 - - 2114 - - - - - - - - 14.25 14.39 14.51
21267 284.1 7.8 947 21272 roll 0.53 - - 2374 - 2.50 0.096 3620 547.2 150.1 - - 2113 - - - - - - - - 14.84 14.38 14.85
21356 276.5 8.1 960 21362 done 0.53 - - 2381 - 2.45 0.060 2248 -560.0 150.1 - - 2115 - - - - - - - - 14.50 14.45 14.54
21715 249.8 7.5 969 21721 roll 0.53 - - 2386 - 2.62 0.075 797 -553.8 150.1 - - 2113 - - - - - - - - 14.84 14.40 14.86
21756 246.7 7.6 975 21761 done 0.53 - - 2391 - 2.65 0.066 2264 553.6 150.1 - - 2114 - - - - - - - - 14.59 14.45 14.63
22106 218.7 8.1 983 22111 roll 0.53 - - 2390 - 2.45 0.093 3614 551.0 150.1 - - 2114 - - - - - - - - 14.87 14.39 14.88
22189 211.1 9.0 995 22195 done 0.53 - - 2399 - 2.40 0.057 2260 -564.2 150.1 - - 2113 - - - - - - - - 14.50 14.45 14.54
22555 181.6 7.9 1005 22561 roll 0.53 - - 2407 - 2.65 0.072 789 -555.1 150.1 - - 2114 - - - - - - - - 14.84 14.40 14.86
22589 179.0 7.6 1010 22594 done 0.53 0.12 0.239 2377 -250.0 2.65 0.066 2270 558.9 150.1 - - 2114 - - - - - - - - 14.27 14.45 14.53
22946 157.1 6.1 1019 22994 roll 0.55 - - 2377 - 2.42 0.092 3618 557.0 180.1 41.78 1.087 1998 -2.8 0.076 - - - - - - 14.85 14.38 13.95
23009 152.9 6.8 1028 23028 done 0.56 - - 2384 - 2.38 0.058 2257 -571.8 193.9 14.27 1.091 1946 -3.6 0.096 - - - - - - 14.54 14.47 13.88
23338 129.7 7.1 1040 23343 roll 0.56 - - 2391 - 2.65 0.070 788 -554.3 200.0 - - 1929 - - - - - - - - 14.72 14.32 14.73
23373 127.2 6.8 1045 23399 done 0.63 - - 2391 - 2.70 0.064 2277 551.5 212.2 19.85 1.072 1870 -3.0 0.066 - - - - - - 14.50 14.39 13.93
23733 103.9 6.2 1061 23756 roll 0.71 0.12 0.133 2450 491.7 2.47 0.091 3616 542.1 240.0 14.73 0.405 1762 -7.3 0.354 - - - - - - 14.47 14.42 14.12
23898 87.8 10.1 1085 23905 done 0.71 - - 2460 - 2.33 0.056 2283 -572.1 240.0 2.03 0.184 1759 -1.5 0.133 - - - - - - 14.49 14.42 14.30
24238 67.8 5.2 1100 24280 roll 0.78 - - 2460 - 2.72 0.067 784 -551.1 291.7 35.03 0.334 1552 -5.9 0.226 - - - - - - 14.77 14.45 14.22
24416 58.9 4.0 1126 24476 done 0.98 0.17 0.104 2545 500.0 2.67 0.060 2286 562.5 370.7 52.55 0.311 1231 -6.1 0.218 - - - - - - 14.50 14.45 14.20
24795 35.5 5.4 1147 24833 roll 1.13 - - 2545 - 2.72 0.064 784 -552.2 416.4 30.52 0.235 1040 -6.3 0.178 - - - - - - 14.76 14.45 14.23
24930 27.3 6.4 1166 24954 done 1.26 0.17 0.099 2628 488.2 2.72 0.060 2315 562.9 438.3 16.08 0.206 951 -5.5 0.138 - - - - - - 14.50 14.45 14.23
25155 end climb: SURFACE_DEPTH_REACHED
25155 begin surface coast
25187 end surface coast: CONTROL_FINISHED_OK
25187 begin surface
SM 0.87 - - - - -6.15 6.82 0.057 202 29.6 0.10 0.165 2277 -91530.0 500.17 42.53 0.136 698 16.4 -0.011 - - - - - -